Path Planning for Unmanned Aerial Vehicles in Complex Environments

Abstract

This paper introduces a comprehensive framework for generating obstacle-free flight paths for unmanned aerial vehicles (UAVs) in intricate 3D environments. The system leverages the Rapidly Exploring Random Tree (RRT) algorithm to design trajectories that effectively avoid collisions with structures of diverse shapes and sizes. Discussion revolves around the challenges encountered during development and the successful achievement of generating collision-free routes. While the system represents an initial iteration, it serves as a foundation for future projects aiming to refine and expand upon its capabilities. Future work includes simulation testing and integration into UAV missions for image acquisition and structure scanning. Additionally, considerations for swarm deployment and 3D reconstruction using various sensor combinations are outlined. This research contributes to the advancement of autonomous UAV navigation in real-world scenarios.

Keywords

• unmanned aerial vehicles (UAVs)
• rapidly exploring random tree (RRT) algorithm
• obstacle avoidance
• 3D environment
• collision-free trajectories
• autonomous navigation